phoenix6#

Subpackages#

Submodules#

Package Contents#

Attributes#

volt

ampere

rotation

rotations_per_second

rotations_per_second_squared

rotations_per_second_cubed

degree

degrees_per_second

celsius

microsecond

millisecond

second

microtesla

g

hertz

class phoenix6.AllTimestamps#

A collection of timestamps for a received signal.

update(system_timestamp_seconds: phoenix6.units.second, system_timestamp_source: phoenix6.timestamp.TimestampSource, system_timestamp_valid: bool, canivore_timestamp_seconds: phoenix6.units.second, canivore_timestamp_source: phoenix6.timestamp.TimestampSource, canivore_timestamp_valid: bool, device_timestamp_seconds: phoenix6.units.second, device_timestamp_source: phoenix6.timestamp.TimestampSource, device_timestamp_valid: bool)#

Update this timestamp with the new timestamps

Parameters:

  • system_timestamp_seconds (second) – New system timestamp seconds

  • system_timestamp_source (TimestampSource) – New System timestamp source

  • system_timestamp_valid (bool) – Whether new System timestamp is valid

  • canivore_timestamp_seconds (second) – New CANivore timestamp seconds

  • canivore_timestamp_source (TimestampSource) – New CANivore timestamp source

  • canivore_timestamp_valid (bool) – Whether new CANivore timestamp is valid

  • device_timestamp_seconds (second) – New Device timestamp seconds

  • device_timestamp_source (TimestampSource) – New Device timestamp source

  • device_timestamp_valid (bool) – Whether new Device timestamp is valid

get_best_timestamp() → phoenix6.timestamp.Timestamp#

Gets the best timestamp available.

Returns:

Best available timestamp

Return type:

Timestamp

get_system_timestamp() → phoenix6.timestamp.Timestamp#

Get the timestamp as reported by the system

Returns:

Timestamp as reported by system

Return type:

Timestamp

get_canivore_timestamp() → phoenix6.timestamp.Timestamp#

Get the timestamp as reported by the CANivore.

Returns:

Timestamp as reported by the CANivore

Return type:

Timestamp

get_device_timestamp() → phoenix6.timestamp.Timestamp#

Get the timestamp as reported by the device.

Returns:

Timestamp as reported by the device

Return type:

Timestamp

class phoenix6.Timestamp(time: phoenix6.units.second, source: TimestampSource, is_valid: bool = True)#

Information about the timestamp of a signal.

property time: phoenix6.units.second#

Get the time of this timestamp

Returns:

Time of this timestamp

Return type:

second

property source: TimestampSource#

Get the source of this timestamp

Returns:

Source of this timestamp

Return type:

TimestampSource

property is_valid: bool#

Get whether this timestamp is valid or not

Returns:

True if this timestamp is valid

Return type:

bool

update(time: phoenix6.units.second, source: TimestampSource, valid: bool)#

Update this timestamp with provided information

Parameters:

  • time (second) – Time in seconds

  • source (TimestampSource) – Timestamp source

  • valid (bool) – Whether the timestamp is valid or not

get_latency() → phoenix6.units.second#

Get the latency of this timestamp compared to now

Returns:

Difference between now and this timestamp

Return type:

second

phoenix6.volt#
phoenix6.ampere#
phoenix6.rotation#
phoenix6.rotations_per_second#
phoenix6.rotations_per_second_squared#
phoenix6.rotations_per_second_cubed#
phoenix6.degree#
phoenix6.degrees_per_second#
phoenix6.celsius#
phoenix6.microsecond#
phoenix6.millisecond#
phoenix6.second#
phoenix6.microtesla#
phoenix6.g#
phoenix6.hertz#
class phoenix6.BaseStatusSignal(device_identifer: phoenix6.hardware.device_identifier.DeviceIdentifier, spn: int, signal_name: str, report_if_old_func: Callable[[], None])#

Bases: abc.ABC

Common parent type for the :ref:StatusSignal: object.

This can be used for a collection of :ref:StatusSignal: objects, but we recommend using the derived class instead when possible

property name: str#

The name of this signal.

Returns:

The name of this signal.

Return type:

str

property units: str#

The units associated with this signal.

Returns:

Units associated with this signal

Return type:

str

property value_as_double: float#

Gets the value as a double instead of the generic type. This may be helpful when working with the base class.

Returns:

Signal as a double

Return type:

float

property all_timestamps: phoenix6.all_timestamps.AllTimestamps#

All the timestamps associated with this signal.

Returns:

All the timestamps associated with this signal.

Return type:

AllTimestamps

property timestamp: phoenix6.timestamp.Timestamp#

The most accurate timestamp associated with this signal

Returns:

The most accurate timestamp associated with this signal.

Return type:

Timestamp

property status: phoenix6.status_code.StatusCode#

The status of the last time this signal was updated.

Returns:

Status of the last time this signal was updated.

Return type:

StatusCode

property has_updated: bool#

Check whether the signal has been updated since the last check.

Note that the signal must be refreshed before calling this routine.

Returns:

True if the signal has updated since the previous call of this routine

Return type:

bool

static wait_for_all(timeout_seconds: phoenix6.units.second, *signals: BaseStatusSignal | list[BaseStatusSignal]) → phoenix6.status_code.StatusCode#

Waits for new data on all provided signals up to timeout. This API is typically used with CANivore Bus signals as they will be synced using the CANivore Timesync feature and arrive simultaneously. Signals on a roboRIO bus cannot be synced and may require a significantly longer blocking call to receive all signals.

Note that CANivore Timesync requires Phoenix Pro.

This can also be used with a timeout of zero to refresh many signals at once, which is faster than calling refresh() on every signal. This is equivalent to calling refresh_all.

Parameters:

  • timeout_seconds (second) – Maximum time to wait for new data in seconds. Pass zero to refresh all signals without blocking.

  • signals (tuple[BaseStatusSignal | list[BaseStatusSignal], ...]) – Signals to wait for new data against

Returns:

An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks, RxTimeout if it took longer than timeoutSeconds to receive all the signals, MultiSignalNotSupported if using the roboRIO bus with more than one signal and a non-zero timeout. An OK status code means that all signals arrived within timeoutSeconds and they are all OK.

Any other value represents the StatusCode of the first failed signal. Check the status of each signal to determine which ones failed.

Return type:

StatusCode

static refresh_all(*signals: BaseStatusSignal | list[BaseStatusSignal]) → phoenix6.status_code.StatusCode#

Performs a non-blocking refresh on all provided signals.

This provides a performance improvement over separately calling refresh() on each signal.

Parameters:

signals (tuple[BaseStatusSignal | list[BaseStatusSignal], ...]) – Signals to refresh

Returns:

An InvalidParamValue if signals array is empty, InvalidNetwork if signals are on different CAN bus networks. An OK status code means that all signals are OK.

Any other value represents the StatusCode of the first failed signal. Check the status of each signal to determine which ones failed.

Return type:

StatusCode

static get_latency_compensated_value(signal: StatusSignal[float], signal_slope: StatusSignal[float], max_latency_seconds: phoenix6.units.second = 0.3) → float#

Performs latency compensation on signal using the signalSlope and signal’s latency to determine the magnitude of compensation. The caller must refresh these StatusSignals beforehand; this function only does the math required for latency compensation.

Important: The signalSlope must be the rate of change of the signal. If it is not the latency compensation may not perform as expected.

Example: compensatedTurns = BaseStatusSignal.get_latency_compensated_value(fx.get_position(), fx.get_velocity())

Parameters:

  • signal (StatusSignal[float]) – Signal to be latency compensated. Caller must make sure this signal is up to date either by calling StatusSignal.refresh() or StatusSignal.wait_for_update(double).

  • signal_slope – Derivative of signal that informs compensation magnitude. Caller must make sure this signal is up to date either by calling StatusSignal.refresh() or StatusSignal.wait_for_update(double).

  • max_latency_seconds (second) – The maximum amount of latency to compensate for in seconds. A negative or zero value disables the max latency cap. This is used to cap the contribution of latency compensation for stale signals, such as after the device has been disconnected from the CAN bus.

Returns:

Latency compensated value from the signal StatusSignal.

Return type:

float

static is_all_good(*signals: BaseStatusSignal | list[BaseStatusSignal]) → bool#

Checks if all signals have an OK error code. :param signals: Signals to check error code of :type signals: tuple[BaseStatusSignal | list[BaseStatusSignal], …] :returns: True if all are good, False otherwise :rtype: bool

static set_update_frequency_for_all(frequency_hz: phoenix6.units.hertz, *signals: BaseStatusSignal | list[BaseStatusSignal]) → phoenix6.status_code.StatusCode#

Sets the update frequency of all specified status signals to the provided common frequency.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame.

This will wait up to 0.050 seconds (50ms) for each signal.

Parameters:

  • frequency_hz (hertz) – Rate to publish the signal in Hz

  • signals (tuple[BaseStatusSignal | list[BaseStatusSignal], ...]) – Signals to apply the update frequency to

Returns:

Status code of the first failed update frequency set call, or OK if all succeeded

Return type:

StatusCode

abstract set_update_frequency(frequency_hz: phoenix6.units.hertz, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Sets the rate at which the device will publish this signal.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame.

Parameters:

  • frequency_hz (hertz) – Rate to publish the signal in Hz

  • timeout_seconds (second) – Maximum amount of time to wait when performing the action

Returns:

Status code of setting the update frequency

Return type:

StatusCode

abstract get_applied_update_frequency() → phoenix6.units.hertz#

Gets the rate at which the device will publish this signal.

This is typically the last value passed into set_update_frequency. The returned value may be higher if another StatusSignal in the same status frame has been set to a higher update frequency.

Returns:

Applied update frequency of the signal in Hz

Return type:

hertz

class phoenix6.StatusSignal(error: phoenix6.status_code.StatusCode, device_identifier: phoenix6.hardware.device_identifier.DeviceIdentifier, spn: int, report_if_old_func: Callable[[], None], generator: Callable[[], dict[int, StatusSignal]], signal_name: str, signal_type: type)#

Bases: phoenix6.base_status_signal.BaseStatusSignal, Generic[T]

Represents a status signal with data of type T, and operations available to retrieve information about the signal.

property value: T#

Gets the value inside this StatusSignal

Returns:

The value of this StatusSignal

Return type:

T

refresh(report_error: bool = True) → StatusSignal[T]#

Refreshes the value of this status signal.

If the user application caches this StatusSignal object instead of periodically fetching it from the hardware device, this function must be called to fetch fresh data.

This performs a non-blockin refresh operation. If you want to wait until you receive data, call wait_for_update instead.

Parameters:

report_error (bool, optional) – Whether to report any errors to the console, defaults to True

Returns:

Reference to itself

Return type:

StatusSignal[T]

wait_for_update(timeout_seconds: phoenix6.units.second, report_error: bool = True) → StatusSignal[T]#

Waits up to timeout_seconds to get up-to-date status signal value.

This performs a blocking refresh operation. If you want to non-blocking refresh the signal, call refresh instead.

Parameters:

  • timeout_seconds (second) – Maximum time to wait for a signal to update

  • report_error (bool, optional) – Whether to report any errors to the console, defaults to True

Returns:

Reference to itself

Return type:

StatusSignal[T]

set_update_frequency(frequency_hz: phoenix6.units.hertz, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Sets the rate at which the device will publish this signal.

A frequency of 0 Hz will turn off the signal. Otherwise, the minimum supported signal frequency is 4 Hz, and the maximum is 1000 Hz.

If other StatusSignals in the same status frame have been set to an update frequency, the fastest requested update frequency will be applied to the frame.

Parameters:

  • frequency_hz (hertz) – Rate to publish the signal in Hz

  • timeout_seconds (second) – Maximum amount of time to wait when performing the action

Returns:

Status code of setting the update frequency

Return type:

StatusCode

get_applied_update_frequency() → phoenix6.units.hertz#

Gets the rate at which the device will publish this signal.

This is typically the last value passed into set_update_frequency. The returned value may be higher if another StatusSignal in the same status frame has been set to a higher update frequency.

Returns:

Applied update frequency of the signal in Hz

Return type:

hertz

as_supplier() → Callable[[], T]#

Returns a lambda that calls refresh and value on this object. This is useful for command-based programming.

Returns:

Lambda that refreshes this signal and returns it

Return type:

Callable[[], T]

class phoenix6.SignalLogger#

Static class for controlling the Phoenix 6 signal logger.

This logs all the signals from the CAN buses into .hoot files. Each file name starts with the CANivore serial number or “rio” for the roboRIO CAN bus, followed by the timestamp. In the header of a hoot file, the CANivore name and firmware version are logged in plain text.

During an FRC match, the log file will be renamed to include the event name, match type, and match number at the start of the file name. The match type will be ‘P’ for practice matches, ‘Q’ for qualification matches, and ‘E’ for elimination matches.

static set_path(path: str) → phoenix6.status_code.StatusCode#

Sets the destination for logging, restarting logger if the path changed.

If this is not called or the path is left empty, the default path will be used. The default path on the roboRIO is a logs folder on the first USB flash drive found, or /home/lvuser/logs if none is available. The default path on all other platforms is a logs folder in the current working directory.

Typical use for this routine is to use a removable USB flash drive for logging.

Parameters:

path (str) – Folder path for the log files; path must exist

Returns:

Status of setting the path and restarting the log

Return type:

StatusCode

static start() → phoenix6.status_code.StatusCode#

Starts logging status signals. Starts regardless of auto logging status.

If using a roboRIO 1, we recommend setting the logging path to an external drive using SetPath to avoid running out of internal storage space.

If auto logging is enabled, the log will be stopped at the end of the match.

Returns:

Status of starting the logger

Return type:

StatusCode

static stop() → phoenix6.status_code.StatusCode#

Stops logging status signals. Stops regardless of auto logging status.

Returns:

Status of stopping the logger

Return type:

StatusCode

static enable_auto_logging(enable: bool) → phoenix6.status_code.StatusCode#

Enables or disables auto logging.

Auto logging is only supported on the roboRIO. When auto logging is enabled, logging is started at the beginning of an FRC match and stopped at the end.

Parameters:

enable (bool) – Whether to enable auto logging

Returns:

Status of auto logging enable/disable

Return type:

StatusCode

static write_raw(name: str, data: bytes, size: int, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the raw data bytes to the log file. The data cannot exceed 64 bytes.

Parameters:

  • name (str) – Name of the signal

  • data (bytes) – Raw data bytes

  • size (int) – Size of the raw data (in bytes)

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_boolean(name: str, value: bool, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the boolean to the log file.

Parameters:

  • name (str) – Name of the signal

  • value – Value to write

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_integer(name: str, value: int, units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the integer to the log file.

Parameters:

  • name (str) – Name of the signal

  • value – Value to write

  • units (str) – Units of the signal

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_float(name: str, value: float, units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the float to the log file.

Parameters:

  • name (str) – Name of the signal

  • value – Value to write

  • units (str) – Units of the signal

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_double(name: str, value: float, units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the double to the log file.

Parameters:

  • name (str) – Name of the signal

  • value – Value to write

  • units (str) – Units of the signal

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_string(name: str, value: str, latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the string to the log file. The string cannot exceed 64 characters.

Parameters:

  • name (str) – Name of the signal

  • value – Value to write

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_boolean_array(name: str, value: list[bool], latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the array of booleans to the log file. The array cannot exceed 64 elements.

Parameters:

  • name (str) – Name of the signal

  • value – Array of values to write

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_integer_array(name: str, value: list[int], units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the array of integers to the log file. The array cannot exceed 8 elements.

Parameters:

  • name (str) – Name of the signal

  • value – Array of values to write

  • units (str) – Units of the signal

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_float_array(name: str, value: list[float], units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the array of floats to the log file. The array cannot exceed 16 elements.

Parameters:

  • name (str) – Name of the signal

  • value – Array of values to write

  • units (str) – Units of the signal

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

static write_double_array(name: str, value: list[float], units: str = '', latency_seconds: phoenix6.units.second = 0) → phoenix6.status_code.StatusCode#

Writes the array of doubles to the log file. The array cannot exceed 8 elements.

Parameters:

  • name (str) – Name of the signal

  • value – Array of values to write

  • units (str) – Units of the signal

  • latency_seconds (second) – Latency of the signal in seconds; this value is subtracted from the current time to get the timestamp written to the log

Returns:

Status of writing the data

Return type:

StatusCode

class phoenix6.Orchestra(instruments: list[phoenix6.hardware.parent_device.ParentDevice] = [], filepath: str = '')#

Orchestra is used to play music through devices. It uses a “Chirp” (.chrp) music file that can be generated using Phoenix Tuner. Chirp files are generated from standard MIDI files.

Any Chirp file located in the src/main/deploy directory of your FRC project will automatically be copied to the roboRIO on code deploy.

The robot must be enabled to play music. Additionally, devices playing in Orchestra will not run any other control requests while Orchestra is running. Users can :ref:pause: or :ref:stop: the Orchestra to re-enable device control.

Each device can only play a single track within the music file. For multi-track files, multiple devices are needed. Devices can be added with an explicit track number. Otherwise, the first track will be played through the first Talon FX added, the second track will be played through the second Talon FX added, etc.

To use Orchestra:

  • Add the Talon FXs to be used as instruments using :ref:add_instrument:.

  • Load the Chirp file to be played using :ref:load_music:. This can also

be done in the Orchestra constructor.

Both of these can also be done in the Orchestra constructor.

Once ready, the Orchestra can be controlled using :ref:play:/:ref:pause:/:ref:stop:. New music files can be loaded at any time.

Parameters:

  • instruments (list[ParentDevice]) – A list of devices that will be used as instruments in the orchestra

  • filepath (str) – The path to the music file to immediately load into the orchestra

add_instrument(instrument: phoenix6.hardware.parent_device.ParentDevice) → phoenix6.status_code.StatusCode#

Adds an instrument to the orchestra.

Parameters:

instrument (ParentDevice) – The device to add to the orchestra

Returns:

Status code of adding the device

Return type:

StatusCode

add_instrument_with_track(instrument: phoenix6.hardware.parent_device.ParentDevice, track_number: int) → phoenix6.status_code.StatusCode#

Adds an instrument to the orchestra on the given track.

Parameters:

  • instrument (ParentDevice) – The device to add to the orchestra

  • track_number (int) – The track number the device should play, starting at 0

Returns:

Status code of adding the device

Return type:

StatusCode

clear_instruments() → phoenix6.status_code.StatusCode#

Clears all instruments in the orchestra.

Returns:

Status code of clearing all devices

Return type:

StatusCode

load_music(filepath: str) → phoenix6.status_code.StatusCode#

Loads a Chirp file at the specified file path.

If the Chirp file is inside your “src/main/deploy” directory, it will be automatically deployed to a default directory on the roboRIO when you deploy code. For these files, the name and file extension is sufficient.

A Chirp file can be created from a MIDI file using Phoenix Tuner.

Parameters:

filepath (str) – The path to the Chirp file

Returns:

Status code of loading the Chirp file

Return type:

StatusCode

play() → phoenix6.status_code.StatusCode#

Plays the loaded music file. If the player is paused, this will resume the orchestra.

Returns:

Status code of playing the orchestra

Return type:

StatusCode

pause() → phoenix6.status_code.StatusCode#

Pauses the loaded music file. This saves the current position in the track so it can be resumed later.

Returns:

Status code of pausing the orchestra

Return type:

StatusCode

stop() → phoenix6.status_code.StatusCode#

Stops the loaded music file. This resets the current position in the track to the start.

Returns:

Status code of stopping the orchestra

Return type:

StatusCode

is_playing() → bool#

Gets whether the current track is actively playing.

Returns:

True if Orchestra is playing the music file

Return type:

bool

get_current_time() → phoenix6.units.second#

Gets the current timestamp of the music file. The timestamp will reset to zero whenever :ref:load_music: or :ref:stop: is called.

If :ref:isPlaying: returns false, this method can be used to determine if the music is stopped or paused.

Returns:

The current timestamp of the music file, in seconds

Return type:

second

class phoenix6.CANBus#

Static class for getting information about available CAN buses.

static is_network_fd(canbus: str) → bool#

Gets whether the CAN bus is a CAN FD network.

Parameters:

canbus (str) – Name of the CAN bus

Returns:

True if the CAN bus is CAN FD

Return type:

bool

static get_status(canbus: str) → CANBusStatus#

Gets the status of the CAN bus, including the bus utilization and the error counters.

Parameters:

canbus (str) – Name of the CAN bus

Returns:

Status of the CAN bus

Return type:

CANBusStatus

class phoenix6.StatusCode(*args, **kwds)#

Bases: enum.Enum

Status codes reported by APIs, including OK, warnings, and errors.

property name: str#

Gets the name of this StatusCode.

Returns:

Name of this StatusCode

Return type:

str

property description: str#

Gets the description of this StatusCode.

Returns:

Description of this StatusCode

Return type:

str

OK = 0#

No Error

TASK_IS_BUSY#

Diagnostic Server is busy with another command.

INVALID_DEVICE_SPEC#

InvalidDeviceSpec

ECU_IS_NOT_PRESENT#

Device is not present. Verify the device is connected and powered, and that the CAN bus is terminated.

COULD_NOT_ENTER_BL#

Could not put the device into bootloader mode.

COULD_NOT_CONFIRM_BL#

Could not confirm the device has entered the bootloader.

COULD_NOT_ERASE#

Could not erase flash.

COULD_NOT_SEND_FLASH#

Could not field upgrade the device.

COULD_NOT_VALIDATE#

Bootloader could not verify integrity of the flashed application.

COULD_NOT_RUN_APP#

Could not run the device firmware application.

COULD_NOT_REQ_SET_ID#

Unable to set ID to this device.

COULD_NOT_CONFIRM_ID#

Could not verify that the changed ID took effect.

FLASH_WAS_GOOD#

Device field upgrade was successful.

APP_TOO_OLD#

Device firmware application is too old.

COULD_NOT_REQ_SET_DESC#

Unable to set name to this device.

COMPILE_SZ_IS_WRONG#

CompileSzIsWrong

GADGETEER_DEVICE_NO_SET_ID#

Cannot set the ID of a gadgeteer device.

INVALID_TASK#

This diagnostic action is not supported.

NOT_IMPLEMENTED#

Not Implemented, check latest installer.

NO_DEVICES_ON_BUS#

NoDevicesOnBus

MORE_THAN_ONE_FILE#

MoreThanOneFile

NODE_IS_INVALID#

Specified device was not found. Verify the device is connected and powered, and that the CAN bus is terminated.

INVALID_DEVICE_DESCRIPTOR#

InvalidDeviceDescriptor

COULD_NOT_SEND_CAN_FRAME#

CouldNotSendCanFrame

NORMAL_MODE_MSG_NOT_PRESENT#

NormalModeMsgNotPresent

FEATURE_NOT_SUPPORTED#

This feature is not supported.

NOT_UPDATING#

The diagnostic server is not field upgrading any devices.

CORRUPTED_POST#

CorruptedPOST

NO_CONFIGS#

This device did not report any available configs. Verify firmware and diagnostics are up-to-date.

CONFIG_FAILED#

ConfigFailed

COULD_NOT_REQ_FACTORY_DEFAULT#

Unable to factory default this device.

CUSTOM_NAME_NOT_SUPPORTED#

CustomNameNotSupported

CONFIG_READ_WRITE_MISMATCH#

The configs read from the device do not match the configs that were written.

COULD_NOT_REQ_SET_CONFIGS#

Could not apply the device configs.

INSUFFICIENT_SZ#

InsufficientSz

INVALID_MODEL#

This feature is not supported for this device model.

COULD_NOT_REQ_DEV_INFO#

CouldNotReqDevInfo

NO_CONTROLS#

This device does not support new controls.

DEVICE_IS_NULL#

DeviceIsNull

DEVICE_DID_NOT_RESPOND_TO_DIAG_REQ#

DeviceDidNotRespondToDiagReq

ONLY_SUPPORTED_IN_TUNERX#

This feature requires Tuner X.

CANIV_CLI_ERROR#

Command-line issue with caniv.

INVALID_CRF_BAD_HEADER#

InvalidCrfBadHeader

INVALID_CRF_FILE_SZ_INVALD#

InvalidCrfFileSzInvald

INVALID_CRF_WRONG_PRODUCT#

Specified CRF is for the wrong product.

INVALID_CRF_NO_SECTS#

InvalidCrfNoSects

INVALID_CRF_BAD_SECT_HEADER#

InvalidCrfBadSectHeader

INVALID_CRF_BAD_SECT_SIZE#

InvalidCrfBadSectSize

NO_CRF_FILE#

Specified CRF file could not be found.

COULD_NOT_FIND_DYNAMIC_ID#

CouldNotFindDynamicId

DID_NOT_GET_DHCP#

DidNotGetDhcp

DID_NOT_GET_FULL_DHCP#

DidNotGetFullDhcp

INVALID_LICENSE_RESP#

InvalidLicenseResp

INVALID_CANIV_CACHE#

InvalidCanivCache

CANNOT_OPEN_SERIAL_PORT#

CannotOpenSerialPort

CANNOT_WRITE_SERIAL_PORT#

CannotWriteSerialPort

CANNOT_READ_SERIAL_PORT#

CannotReadSerialPort

CANNOT_SERIAL_TO_DEVICE#

CannotSerialToDevice

NO_SERIAL_CONTROL_FRAME_RESP#

NoSerialControlFrameResp

CANNOT_OPEN_UDP_PORT#

CannotOpenUdpPort

CANNOT_WRITE_UDP_PORT#

CannotWriteUdpPort

CANNOT_READ_UDP_PORT#

CannotReadUdpPort

CANNOT_UDP_TO_DEVICE#

CannotUdpToDevice

NO_UDP_CONTROL_FRAME_RESP#

NoUdpControlFrameResp

TIMEOUT_ISO15_RESPONSE#

TimeoutIso15Response

INVALID_JSON#

InvalidJson

APP_IS_TERMINATING#

The user application is shutting down.

CAN_MESSAGE_STALE = 1000#

CAN Message is stale.

BUFFER_FULL = 1006#

Buffer is full, cannot insert more data.

PULSE_WIDTH_SENSOR_NOT_PRESENT = 1010#

PulseWidthSensorNotPresent

GENERAL_WARNING = 1100#

General Warning Occurred.

FIRM_VERSION_COULD_NOT_BE_RETRIEVED = 1103#

Firm Vers could not be retrieved. Use Phoenix Tuner X to check ID and firmware(CRF) version.

FEATURES_NOT_AVAILABLE_YET = 1104#

This feature will be supported in a future update.

CONTROL_MODE_NOT_VALID = 1105#

The control mode is not valid for this function.

CONTROL_MODE_NOT_SUPPORTED_YET = 1106#

This control mode is not supported yet. A future release will supported this soon.

MOT_PROF_FIRM_THRESHOLD = 1109#

Motor Controller must have >= 3.2 firmware for motion profile control mode.

MOT_PROF_FIRM_THRESHOLD2 = 1110#

Motor Controller must have >= 3.4 firmware for advanced PID0/PID1 features.

SIM_DEVICE_NOT_FOUND = 1200#

SimDeviceNotFound

SIM_PHYSICS_TYPE_NOT_SUPPORTED = 1201#

SimPhysicsTypeNotSupported

SIM_DEVICE_ALREADY_EXISTS = 1202#

SimDeviceAlreadyExists

TX_FAILED#

Could not transmit CAN Frame.

INVALID_PARAM_VALUE#

An invalid argument was passed into the function/VI, such as a null pointer.

RX_TIMEOUT#

CAN frame not received/too-stale. Check the CAN bus wiring, CAN bus utilization, and power to the device.

TX_TIMEOUT#

CAN Transmit timed out.

UNEXPECTED_ARB_ID#

ArbID is incorrect.

CAN_OVERFLOWED#

CanOverflowed

SENSOR_NOT_PRESENT#

Sensor Not Present.

FIRMWARE_TOO_OLD#

Firmware Too Old. Use Phoenix Tuner X to field upgrade your CTRE CAN device firmware(CRF). Then restart your robot application to clear this error.

COULD_NOT_CHANGE_PERIOD#

Control Frame Period could not be changed. Most likely it is not being transmitted.

BUFFER_FAILURE#

BufferFailure

FIRMWARE_NON_FRC#

Firmware is legacy non-FRC version. Use Phoenix Tuner X to field upgrade your CTRE CAN device firmware(CRF). Firmware greater than 20.0 required.

GENERAL_ERROR#

General Error Occurred.

SIG_NOT_UPDATED#

No new response to update signal.

NOT_ALL_PIDVALUES_UPDATED#

NotAllPIDValuesUpdated

GEN_PORT_ERROR#

GEN_PORT_ERROR

PORT_MODULE_TYPE_MISMATCH#

PORT_MODULE_TYPE_MISMATCH

GEN_MODULE_ERROR#

GEN_MODULE_ERROR

MODULE_NOT_INIT_SET_ERROR#

MODULE_NOT_INIT_SET_ERROR

MODULE_NOT_INIT_GET_ERROR#

MODULE_NOT_INIT_GET_ERROR

WHEEL_RADIUS_TOO_SMALL#

Wheel Radius is too small, cannot get distance traveled.

TICKS_PER_REV_ZERO#

Ticks per revolution is 0, cannot get heading.

DISTANCE_BETWEEN_WHEELS_TOO_SMALL#

Distance between wheels is too small, cannot get heading.

GAINS_ARE_NOT_SET#

GainsAreNotSet

WRONG_REMOTE_LIMIT_SWITCH_SOURCE#

Use RemoteLimitSwitchSource instead of LimitSwitchSource.

DOUBLE_VOLTAGE_COMPENSATING_WPI#

Motor Controller Voltage Compensation should not be used with setVoltage(). This causes compensation to happen twice. Disable Voltage Compensation by calling enableVoltageCompensation(false) in order to use setVoltage().

CANDLE_ANIM_SLOT_OUT_OF_BOUNDS#

CANdleAnimSlotOutOfBounds

INCOMPATIBLE_MODE#

IncompatibleMode

INVALID_HANDLE#

Handle passed into function is incorrect.

FEATURE_REQUIRES_HIGHER_FIRM#

Features requires newer firmware version.

CONFIG_FACTORY_DEFAULT_REQUIRES_HIGHER_FIRM#

Config factory default features require firmware >=3.10.

CONFIG_MOTION_SCURVE_REQUIRES_HIGHER_FIRM#

Config Motion S Curve Strength features require firmware >=4.16.

TALON_FXFIRMWARE_PRE_VBAT_DETECT#

Talon FX(Falcon 500) Firmware Too Old. Use Phoenix Tuner to field upgrade your CTRE CAN device firmware(CRF) to >=20.3. Then restart your robot application to clear this error.

CANDLE_ANIMATIONS_REQUIRE_HIGHER_FIRM#

CANdleAnimationsRequireHigherFirm

LIBRARY_COULD_NOT_BE_LOADED#

LibraryCouldNotBeLoaded

MISSING_ROUTINE_IN_LIBRARY#

MissingRoutineInLibrary

RESOURCE_NOT_AVAILABLE#

ResourceNotAvailable

MUSIC_FILE_NOT_FOUND#

Could not find music file specified, try specifying an absolute path.

MUSIC_FILE_WRONG_SIZE#

Music file size is incorrect, could not parse correctly. Ensure you’re using Tuner to generate file.

MUSIC_FILE_TOO_NEW#

Music file version is too new, update Phoenix to utilize this file.

MUSIC_FILE_INVALID#

Music file is invalid. Ensure you’re using Tuner to generate file.

INVALID_ORCHESTRA_ACTION#

An invalid orchestra action occurred. Ensure a music file is loaded.

MUSIC_FILE_TOO_OLD#

This music file version is too old. Regenerate file using Tuner.

MUSIC_INTERRUPTED#

Music interrupted due to one of the instruments being commanded a different control mode. Press Play to resume music.

MUSIC_NOT_SUPPORTED#

This device doesn’t support MusicTone control mode.

INVALID_INTERFACE#

kInvalidInterface

INVALID_GUID#

kInvalidGuid

INVALID_CLASS#

kInvalidClass

INVALID_PROTOCOL#

kInvalidProtocol

INVALID_PATH#

kInvalidPath

GENERAL_WIN_USB_ERROR#

kGeneralWinUsbError

FAILED_SETUP#

kFailedSetup

LISTEN_FAILED#

kListenFailed

SEND_FAILED#

kSendFailed

RECEIVE_FAILED#

kReceiveFailed

INVALID_RESP_FORMAT#

kInvalidRespFormat

WIN_USB_INIT_FAILED#

kWinUsbInitFailed

WIN_USB_QUERY_FAILED#

kWinUsbQueryFailed

WIN_USB_GENERAL_ERROR#

kWinUsbGeneralError

ACCESS_DENIED#

kAccessDenied

FIRMWARE_INVALID_RESPONSE#

kFirmwareInvalidResponse

STATUS_CODE_NOT_INITIALIZED#

This StatusCode has not been initialized. Make sure the StatusCode is getting assigned to the return of a method.

WARNING_NOT_INITIALIZED = 10000#

WarningNotInitialized

HW_TIMESTAMP_OUT_OF_SYNC = 10001#

The timestamp reported by CANivore is at least 10ms older than the timestamp reported by the system, indicating it’s fallen out of sync. This does not impact the data of this message, only the timing.

INVALID_NETWORK#

InvalidNetwork

MULTI_SIGNAL_NOT_SUPPORTED#

The CAN bus does not support multi-signal synchronization.

COULD_NOT_CAST#

Could not cast from base value to this particular signal’s type

NOT_FOUND#

Could not find this value when searching for it

NOT_SUPPORTED#

This is not supported

MISSING_CONTEXT#

Could not determine context from this device hash

MODEL_MISMATCH#

Model name in license file does not match model name of selected device.

SERIAL_MISMATCH#

Serial Number in license file does not match model name of selected device.

NO_FILE#

Could not find specified file.

LICENSE_DOWNLOAD_FAILED#

License did not successfully download to Device.

SELF_TEST_IS_EMPTY#

Self Test report does not have any values, is the firmware up to date?

SIGNAL_LOOKUP_FAILED#

Failed to lookup signal properties. This can happen if the fimware is too new and supports signals that older APIs do not support.

INVALID_MODE_TO_GET_SIGNAL#

The current mode of the device is invalid for getting this signal.

UNLICENSED_DEVICE#

Device is not licensed. Cannot get any data from it.

INVALID_SIZE#

Size is invalid.

INVALID_LICENSE_RESPONSE#

InvalidLicenseResponse

INVALID_CONTEXT#

InvalidContext

INTERNAL_ERROR#

InternalError

DEVICE_RESPONSE_INCORRECT#

kDeviceResponseIncorrect

ERROR_POLLING_FOR_DEVICES#

kErrorPollingForDevices

COULD_NOT_RETRIEVEV6_FIRMWARE#

Device firmware could not be retrieved. Check that the device is running v6 firmware, the device ID is correct, the specified CAN bus is correct, and the device is powered.

COULD_NOT_DECODE_DEVICE_FIRMWARE#

Device firmware could not be decoded. Check that the device is running v6 firmware, the device ID is correct, the specified CAN bus is correct, and the device is powered.

INVALID_IDTO_FOLLOW#

The values specified for master are in valid. Make sure the Device ID of master are correct.

USING_PRO_FEATURE_ON_UNLICENSED_DEVICE#

Using a Pro only feature on an unlicensed device. The device may not behave as expected if it continues to operate while unlicensed.

FIRMWARE_TOO_NEW#

Firmware Too New. Use Phoenix Tuner X to field upgrade your CTRE CAN device firmware(CRF) to a compatible version. Then restart your robot application to clear this error.

COULD_NOT_SERIALIZE#

The data frame could not be serialized for transmit.

MECHANISM_FAULTED#

The mechanism is disabled due to a fault in one of the devices.

FIRMWARE_VERS_NOT_COMPATIBLE#

Firmware version is not compatible with this version of Phoenix. Make sure your firmware and API major versions match.

DIRECTORY_MISSING#

Could not find specified directory.

API_TOO_OLD#

This API version is too old for the firmware on the device. Either upgrade the API to a newer version or downgrade the device firmware to an older version for correct behavior.

LOGGER_NOT_RUNNING#

The signal logger is not running. Start the signal logger before writing any signals.

TIMEOUT_CANNOT_BE_ZERO#

Blocking operations, such as configs, cannot have a timeout of 0. Pass in a non-zero timeout (typically 0.050+ seconds) for normal operation.

CANNOT_LICENSE_WHILE_ENABLED#

Device cannot be licensed while it is control enabled. Disable and neutral the device to apply the licenses.

is_error() → bool#

Gets whether this code is an error.

Returns:

True if this code is an error

Return type:

bool

is_warning() → bool#

Gets whether this code is a warning.

Returns:

True if this code is a warning

Return type:

bool

is_ok() → bool#

Gets whether this code is OK.

Returns:

True if this code is OK

Return type:

bool